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segwayrmp / segway_rmp

ROS package for interfacing with Segway's RMP{50,100,200,400} series robotic platforms.
http://www.ros.org/wiki/segway_rmp
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Making segway_rmp node robust to extremely high odometry changes #26

Closed piyushk closed 9 years ago

piyushk commented 9 years ago

One of our segway bases seems to be failing, and intermittently reports high jumps in odometry. I'm not sure if it is worth it, but it might make sense to add some safeguards in the code to detect and negate high odom jumps in 1 cycle.

wjwwood commented 9 years ago

@piyushk, just my 2-cents, the segway node should never filter output from the segway. If the spike is due to an error in the node it should be fixed, and if it is data from segway that is spiking for some reason then it should be reported as such. Any filtering should happen outside the node because otherwise it might affect results for someone who isn't aware of the filtering or it might accidentally hide other phenomenon that you didn't intend to suppress.

piyushk commented 9 years ago

@wjwwood That sounds like a great suggestion, especially since I'm highly skeptical of introducing this change. I'll look into it implementing outside the segway_rmp code.